CN114469354B - Slave-end initialization method of interventional operation robot and readable storage medium - Google Patents
Slave-end initialization method of interventional operation robot and readable storage medium Download PDFInfo
- Publication number
- CN114469354B CN114469354B CN202210381223.1A CN202210381223A CN114469354B CN 114469354 B CN114469354 B CN 114469354B CN 202210381223 A CN202210381223 A CN 202210381223A CN 114469354 B CN114469354 B CN 114469354B
- Authority
- CN
- China
- Prior art keywords
- driving
- induction units
- fed back
- units
- initialization
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000011423 initialization method Methods 0.000 title claims abstract description 23
- 230000006698 induction Effects 0.000 claims abstract description 317
- 238000000034 method Methods 0.000 claims abstract description 9
- 238000004590 computer program Methods 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 3
- 210000004204 blood vessel Anatomy 0.000 description 10
- 238000001514 detection method Methods 0.000 description 5
- 230000002792 vascular Effects 0.000 description 4
- 230000036512 infertility Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
Abstract
A slave-end initialization method and readable storage medium for an interventional surgical robot, comprising: acquiring a starting instruction, controlling the N driving induction units to execute error removal operation based on the starting instruction, and acquiring error removal results fed back by the N driving induction units; judging whether the error removing results fed back by the N driving induction units meet initialization conditions or not; and if the error removing results fed back by the N drive induction units meet initialization conditions, controlling the N drive induction units to execute initialization operation so as to enable each drive induction unit to move to a corresponding target initialization position and finish initialization. The method of the invention can enable the N driving induction units to accurately and rapidly move to the corresponding target initialization positions so as to facilitate the subsequent operation of doctors.
Description
Technical Field
The invention relates to the technical field of control of medical robots, in particular to a slave-end initialization method and a readable storage medium of an interventional operation robot.
Background
In vascular interventional surgery, doctors are required to receive X-ray radiation for a long time, and for this reason, a remotely operated interventional surgical robot has been developed. The doctor remote control intervenes surgical robot to make intervene surgical robot can carry out the vascular intervention operation under the environment of intense radiation, effectively protect the doctor.
In general, an interventional robot is used to perform a vascular interventional operation, and N drive sensing units in the interventional robot are used to cooperatively drive a slender medical device such as a catheter or a guide wire. However, before the blood vessel intervention operation is performed, the initialization positions of the N driving induction units are not accurate, which is not beneficial to a doctor to subsequently control the intervention operation robot to perform the accurate blood vessel intervention operation.
Disclosure of Invention
In view of the above, it is necessary to provide a slave-end initialization method for an interventional surgical robot to ensure that N driving sensing units are in accurate initialization positions before a surgical operation.
A slave-end initialization method of an interventional surgical robot, which controls the interventional surgical robot to execute initialization operation after starting a slave end, comprises the following steps: the drive induction system comprises a rack, N drive induction units which are slidably mounted on the rack, and a processor connected with the N drive induction units, and comprises the following steps executed by the processor:
acquiring a starting instruction, and controlling the N driving induction units to execute error removing operation based on the starting instruction to acquire error removing results fed back by the N driving induction units;
judging whether the error removing results fed back by the N driving induction units meet initialization conditions or not;
and if the error removing results fed back by the N drive induction units meet initialization conditions, controlling the N drive induction units to execute initialization operation so as to enable each drive induction unit to move to a corresponding target initialization position and finish initialization.
Preferably, the controlling, based on the start instruction, the N driving sensing units to perform an error removing operation to obtain error removing results fed back by the N driving sensing units includes:
obtaining self-checking results fed back by the N driving induction units based on the starting instruction;
judging whether the self-checking results fed back by the N driving induction units meet an error removing condition or not;
and if the self-checking results fed back by the N driving induction units meet the error removing condition, controlling the N driving induction units to execute error removing operation, and obtaining the error removing results fed back by the N driving induction units.
Preferably, the self-test result is that the driving induction unit carries the sterile box or the driving induction unit does not carry the sterile box;
judging N whether the self-checking result that drive induction element fed back satisfies the error condition, include:
and if the N self-checking results fed back by the drive induction units are that the drive induction units do not carry sterile boxes, the N self-checking results fed back by the drive induction units meet the error removing condition.
Preferably, the controlling N driving induction units to perform error removing operation to obtain error removing results fed back by the N driving induction units includes:
acquiring initial signals fed back by the N driving induction units;
judging whether the initial signals fed back by the N driving induction units meet a target reset condition or not;
if the initial signal fed back by one driving induction unit does not meet the target reset condition, inquiring a database and acquiring the operation sequence of N driving induction units;
controlling the N driving induction units to move in the same direction in sequence based on the operation sequence until current signals fed back by the N driving induction units are obtained;
when current signals fed back by the N driving induction units meet a target reset condition, the N driving induction units are controlled to execute target reset operation, and error removal results fed back by the N driving induction units are obtained.
Preferably, after the determining whether the initial signals fed back by the N driving induction units satisfy a target reset condition, the method further includes:
and if the initial signals fed back by the N driving induction units meet the target reset condition, controlling the N driving induction units to execute the target reset operation, and acquiring error removal results fed back by the N driving induction units.
Preferably, the initial signal is a contact signal or a non-contact signal; if one of the initial signals fed back by the N driving induction units is a non-contact signal, the initial signals fed back by the N driving induction units do not meet the target reset condition; if the initial signals fed back by the N driving induction units are all contact signals, the initial signals fed back by the N driving induction units meet the target reset condition.
Preferably, the controlling N driving induction units to perform a target reset operation and obtaining error-removing results fed back by the N driving induction units includes:
controlling the N driving induction units to move to preset positions, and obtaining moving results fed back by the N driving induction units;
and sequentially controlling the motion value target reset positions of the N driving induction units based on the moving result and the operation sequence of the N driving induction units so as to obtain error removal results fed back by the N driving induction units.
Preferably, the controlling N driving induction units to move to a preset position and obtaining a moving result fed back by the N driving induction units includes:
sending a shift instruction carrying a preset length and a moving direction to the N driving induction units so that the N driving induction units simultaneously move for the preset length along the moving direction to reach a preset position;
and obtaining the feedback movement result after the N driving induction units move to the preset position.
Preferably, the controlling N driving induction units to perform an initialization operation so that each driving induction unit moves to a corresponding target initialization position to complete initialization includes:
acquiring an operation sequence corresponding to N drive induction units and a target initialization length corresponding to each drive induction unit;
and sequentially controlling the N driving induction units to move to target initialization positions corresponding to the target initialization length based on the operation sequence so as to enable the N driving induction units to complete initialization.
The invention provides a readable storage medium, which stores a computer program, characterized in that the computer program is executed by a processor to implement a slave-end initialization method of an interventional surgical robot as described above.
The invention provides a slave-end initialization method of an interventional operation robot, which is characterized in that N driving induction units are controlled to carry out error removing operation and initialization operation before a blood vessel interventional operation, so that the N driving induction units move to respective target initialization positions, technical support is provided for the subsequent blood vessel interventional operation, the problems that the number of the driving induction units is large, the N driving induction units are separated from each other and nested are solved, and the subsequent blood vessel interventional operation is prevented from being influenced.
Drawings
FIG. 1 is a flowchart of a slave-side initialization method of an interventional surgical robot according to the present invention;
FIG. 2 is a flowchart 1 of step S101 in FIG. 1;
FIG. 3 is a flowchart 2 of step S101 in FIG. 1;
fig. 4 is a flowchart of step S305 or step S306 in fig. 3;
FIG. 5 is a flowchart of step S401 in FIG. 4;
FIG. 6 is a flowchart of step S103 in FIG. 1;
fig. 7 is a schematic view of the interventional surgical robot of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A slave-end initialization method of an interventional surgical robot is applied to the interventional surgical robot, and the interventional surgical robot comprises the following steps: the drive induction unit comprises a rack, N drive induction units which are slidably and successively installed on the rack, and a processor connected with the N drive induction units, wherein N is an integer greater than 1 and can be limited according to practical application, and is not limited herein. In this embodiment, the driving sensing unit is used for installing and driving a catheter or a guide wire and other elongated medical devices into a blood vessel for treatment, that is, during a blood vessel interventional operation, a doctor remotely controls the driving sensing unit through the main end control device to control the catheter or the guide wire and other elongated medical devices to enter the blood vessel.
The slave-end initialization method of the interventional operation robot is applied to the interventional operation robot and used for enabling N drive induction units to be accurately located at corresponding target initialization positions before interventional operation, and provides support for accurately and effectively controlling the drive induction units when a doctor actually performs the interventional operation. The processor is configured to perform the steps of:
s101: and acquiring a starting instruction, controlling the N driving induction units to execute error removing operation based on the starting instruction, and acquiring error removing results fed back by the N driving induction units.
The starting instruction is an instruction for controlling the starting of the N driving induction units. Specifically, the processor is in communication connection with a main-end control module, and an interactive interface is arranged on the main-end control module; a doctor clicks or touches a starting button of the interactive interface to generate a starting instruction at the main-end control module, and the main-end control module sends the starting instruction to the processor, so that the processor controls the N driving induction units to start to execute error removing operation, and technical support is provided for subsequent initialization.
At first, the N drive induction units on the rack have the problems of nesting or distancing and the like. In this embodiment, the error removing operation is executed by the processor controlling the N driving sensing units, and is used to solve the error problem existing in the N driving sensing units (i.e. solve the problem of nesting or distancing of the N driving sensing units), and provide technical support for subsequent processing. The error removing result refers to the result that each driving induction unit feeds back to the processor and performs error removing operation by itself. In this embodiment, nesting or distancing of the N driving sensing units specifically means: in the N drive induction units, two adjacent drive induction units are nested or far away from each other.
In this embodiment, the N driving sensing units are controlled to execute the error removing operation, so that the N driving sensing units that are nested or far away from each other are orderly and regularly arranged on the rack, and technical support is provided for the N driving sensing units to perform accurate initialization, thereby ensuring that the initialized N driving sensing units accurately reach respective target initialization positions of the rack. The target initialization position is the position of each preset N drive induction units before the operation is started, and it needs to be pointed out that one drive induction unit corresponds to one target initialization position so as to ensure that any two drive induction units are accurately matched to drive interventional devices such as a catheter guide wire to rotate or move during the operation and avoid collision.
As an embodiment, as shown in fig. 2, step S101, namely, controlling N driving sensing units to perform an error removing operation based on the start instruction, and obtaining error removing results fed back by the N driving sensing units, includes:
s201: and obtaining self-checking results fed back by the N driving induction units based on the starting instruction.
S202: and judging whether the self-checking results fed back by the N driving induction units meet the error removing condition or not.
S203: and if the self-checking results fed back by the N driving induction units meet the error removing condition, controlling the N driving induction units to execute error removing operation, and obtaining the error removing results fed back by the N driving induction units.
The sterile box self-checking operation is an operation that each driving sensing unit detects whether the sterile box is carried by the driving sensing unit. The self-checking result is a result fed back to the processor after each driving induction unit executes the sterile box self-checking operation, wherein the self-checking result is that the driving induction unit carries the sterile box or the driving induction unit does not carry the sterile box. For example, when N is equal to 2, the self-test result may be: the first drive induction unit carries a sterile box, and the second drive induction unit carries a sterile box; the first drive induction unit carries the sterile box, and the second drive induction unit does not carry the sterile box; the first drive induction unit does not carry a sterile box, and the second drive induction unit carries a sterile box; the first drive sensing unit does not carry a sterility case and the second drive sensing unit does not carry a sterility case.
The error removing condition is a condition that the N drive induction units can execute error removing operation, and the error removing condition is specifically that the N drive induction units do not carry sterile boxes. That is, when N the self-checking result that drive induction unit feedback is all not carrying aseptic box, then N the self-checking result that drive induction unit feedback satisfies the error removing condition, and at this moment, the treater control N drive induction unit carries out the error removing operation, obtains N the error removing result that drive induction unit feedback to guarantee subsequent initialization precision.
Normally, the aseptic box is installed on the driving induction unit, and has a certain volume, if the driving induction unit is initialized under the condition that the aseptic box is installed, the initialization result will be wrong. In this embodiment, each driving induction unit includes a sterility case detection sensor; the processor is connected with the sterile box detection sensor of each driving sensing unit. After the starting instruction is received to the treater, then automatic query database obtains N the self-checking result that drive induction unit fed back, the treater is to N the self-checking result that drive induction unit fed back compares with going the error condition, and when N the self-checking result that drive induction unit fed back is when not carrying aseptic box, then N the self-checking result that drive induction unit fed back satisfies the error condition, and at this moment, processor control N drive induction unit carries out the error operation, obtains N the error result that goes that drive induction unit fed back to guarantee subsequent initialization precision. In this embodiment, the self-checking result fed back by each driving induction unit carries a driving identifier, and each driving induction unit automatically sends the self-checking result carrying the driving identifier to the processor every preset aseptic detection time; when the self-checking result of one driving induction unit is that the aseptic box is carried, the warning device corresponding to the driving induction unit with the self-checking result as the aseptic box is started based on the driving identification so as to remind a doctor to disassemble the aseptic box. After the aseptic detection duration, the processor queries the database to obtain self-detection results fed back by the N drive induction units until all the drive induction units are ensured not to carry aseptic boxes; and under the condition that the self-checking result shows that the sterile box is not carried, controlling the N driving induction units to execute error removing operation. The driving identifier is an identifier for uniquely identifying the driving sensing unit, and the driving identifier may be a serial number or a letter, for example, the first driving identifier may be a1, and the second driving identifier may be a 2.
As an embodiment, as shown in fig. 3, step S101 or step S203, namely, controlling N driving sensing units to perform an error removing operation, and obtaining error removing results fed back by the N driving sensing units, includes:
s301: and acquiring initial signals fed back by the N driving induction units.
In this embodiment, each driving induction unit further includes a distance sensor and a distance induction sheet engaged with the distance sensor, and the processor is connected to the distance sensor of each driving induction unit. The distance sensor of each drive induction unit is arranged on the drive induction unit, wherein the distance induction sheet of the first drive induction unit is determined as a positioning induction sheet, the positioning induction sheet is arranged on the rack and is positioned at the near end part of the rack, the distance induction sheets of the other drive induction units are arranged on the adjacent previous drive induction unit, namely the distance induction sheet of the second drive induction unit is arranged on the first drive induction unit. In this embodiment, the operator controls the slave end of the interventional surgical robot in the non-radiative master control room, and the "proximal end" is the end close to the operator. "distal end" is the end remote from the operator.
After the power supply is started, the distance sensor of each driving sensing unit sends a signal to the processor, the initial signal is a contact signal or a non-contact signal, the contact signal refers to the fact that the distance sensor of the driving sensing unit is in contact with the corresponding distance sensing piece, namely when the distance sensor of the driving sensing unit is in contact with the corresponding distance sensing piece, the sent initial signal is a contact signal, namely two adjacent driving sensing units are in contact or nested. Conversely, the non-contact signal means that the distance sensor of the driving sensing unit is not in contact with the corresponding distance sensing piece, that is, when the distance sensor of the driving sensing unit is not in contact with the corresponding distance sensing piece, the transmitted initial signal is the non-contact signal, that is, two adjacent driving sensing units are far away.
S302: and judging whether the initial signals fed back by the N driving induction units meet a target reset condition or not.
The target resetting condition is a condition capable of executing target resetting operation, specifically, a distance sensor of each driving induction unit is in contact with a corresponding distance induction sheet, namely, an initial signal fed back by each driving induction unit is a contact signal, at this time, N driving induction units are mutually abutted or nested, at this time, the N driving induction units are controlled to execute the target resetting operation, so that the situation that two adjacent driving induction units are nested is eliminated.
S303: and if the initial signal fed back by one driving induction unit does not meet the target reset condition, inquiring a database and acquiring the operation sequence of the N driving induction units.
S304: and controlling the N driving induction units to move in the same direction in sequence based on the operation sequence until current signals fed back by the N driving induction units are obtained.
The operation sequence is a preset operation sequence, and the initial reset sequence is the sequence of the driving induction units to move according to the distances between the N driving induction units and the positioning induction sheet. Specifically, the operation sequence is that the driving induction unit closest to the positioning induction sheet is determined as the first driving induction unit for executing the initial reset operation, the next driving induction unit adjacent to the first driving induction unit is the second driving induction unit for executing the initial reset operation, and so on, and the driving induction unit farthest from the positioning induction sheet is the nth driving induction unit for executing the initial reset operation.
When the processor determines that the initial signals sent by the N driving induction units do not meet the target reset condition, two or more of the N driving induction units are separated. In this embodiment, the processor queries the database to determine the operation sequence of the N driving sensing units; the N driving induction units are controlled to move towards the same direction (namely towards the direction of the positioning induction sheet) until current signals (the current signals are contact signals) fed back by the N driving induction units are obtained, so that two adjacent driving induction units are in contact or nested, and technical support is provided for subsequent accurate initialization. In this embodiment, the current signal is a touch signal, i.e., drives the distance sensor and the corresponding distance sensor sheet base in the sensing unit.
Specifically, the initial signal also carries a driving identifier for uniquely identifying the driving induction unit; based on the operation sequence, controlling the N drive induction units to move in the same direction in sequence until obtaining N current signals fed back by the drive induction units, and the method comprises the following steps: controlling the drive induction unit closest to the positioning induction sheet to move towards the positioning induction sheet according to the operation sequence and the drive identification until receiving a contact current signal fed back by the drive induction unit closest to the positioning induction sheet; … …, until the distance sensor of the last driving induction unit is controlled to abut against the distance induction sheet on the previous driving induction unit.
Illustratively, the initial signal of the first driving sensing unit is a touch signal, the initial signal of the second driving sensing unit is a non-touch signal, and the initial signals of the remaining driving sensing units are touch signals. At this time, the distance sensor of the first driving sensing unit may just contact with the positioning sensing piece, or the distance sensor of the first driving sensing unit may be nested in the positioning sensing piece. The initial signal of second drive induction element is non-contact signal, then second drive induction element keeps away from each other with first drive induction element, at this moment, according to operation order and drive sign, control second drive induction element and move to the direction of location response piece, when second drive induction element and first drive induction element butt, then stop motion to carry the current signal of the drive sign that second drive induction element corresponds to the treater sending, at this moment, current signal can understand the contact signal that second drive induction element corresponds. Controlling a third driving induction unit to move towards the direction of the positioning induction sheet according to a driving identification and an operation sequence corresponding to a second driving induction unit, and when the second driving induction unit is abutted against the first driving induction unit (namely, a distance sensor of the third driving induction unit is contacted with a corresponding distance induction sheet arranged on the second driving induction unit), stopping the third driving induction unit and sending a current signal to a processor, wherein the current signal can be understood as a contact signal corresponding to the third driving induction unit; the processor sequentially controls the driving induction units behind the third driving induction unit to move towards the direction of the positioning induction sheet until the Nth driving induction unit is contacted with the (N-1) th driving induction unit, and then the current signal fed back by each driving induction unit can be acquired so as to carry out subsequent operation.
S305: when current signals fed back by the N driving induction units meet a target reset condition, the N driving induction units are controlled to execute target reset operation, and error removal results fed back by the N driving induction units are obtained.
The target reset operation is used for eliminating nesting of two adjacent driving induction units, and provides technical support for subsequent accurate initialization.
S306: and if the initial signals fed back by the N drive induction units meet the target reset condition, controlling the N drive induction units to execute the target reset operation, and acquiring error removal results fed back by the N drive induction units.
In this embodiment, N initial signals fed back by the driving sensing units are contact signals, which indicates that two adjacent driving sensing units are in contact with each other, and at this time, two adjacent driving sensing units may abut against each other or be nested, so that the N driving sensing units need to be controlled to perform target resetting operation, so as to eliminate the nested problem of the two adjacent driving sensing units, ensure that all driving sensing units are orderly and regularly arranged on the rack, and provide technical support for subsequent initialization.
In this embodiment, when the current signal fed back by the driving sensing units meets the target reset condition, it indicates that two adjacent driving sensing units are in contact, and at this time, the two adjacent driving sensing units are abutted or nested, so that it is further necessary to control the N driving sensing units to perform error removal operation, so as to ensure that all the driving sensing units are orderly arranged on the rack, and provide technical support for subsequent initialization.
As an embodiment, as shown in fig. 4, step S305 or step S306 is to control N driving sensing units to perform a target reset operation, and obtain error-removing results fed back by the N driving sensing units, including:
s401: and controlling the N driving induction units to move to a preset position, and acquiring the moving results fed back by the N driving induction units.
Wherein the preset position is a predetermined position between the positioning sensor of the gantry and the distal end of the gantry.
In this embodiment, when two adjacent driving sensing units are in contact, at this time, two adjacent driving sensing units may be nested with each other, and therefore, a moving instruction needs to be sent to the N driving sensing units to control the N driving sensing units to move to a preset position in a direction away from the positioning sensor, and a moving result fed back by the N driving sensing units moving to the preset position is obtained, so that the N driving sensing units are controlled to perform a target resetting operation according to the moving result.
As an embodiment, as shown in fig. 5, the step S401 of controlling the N driving sensing units to move to the preset position and acquiring the movement result fed back by the N driving sensing units includes:
s501: and sending a shift instruction carrying a preset length and a moving direction to the N driving induction units so that the N driving induction units simultaneously move for the preset length along the moving direction to reach a preset position.
In this embodiment, when the N driving sensing units move along the moving direction by a predetermined length at the same time, the N driving sensing units move at the same time.
S502: and obtaining the feedback movement result after the N driving induction units move to the preset position.
The preset length is a preset length, and can be understood as a length between a preset position and a positioning sensor. The direction of movement is the direction pointing away from the positioning sensor.
The shift command is a command for controlling the movement of the N driving sensing units.
In this embodiment, when the signals fed back by the N driving sensing units are all contact signals, the initial signals or the current signals fed back by the N driving sensing units meet a target reset condition, at this time, shift instructions carrying a moving direction and a preset length are sent to the N driving sensing units, and when the N driving sensing units receive the shift instructions, the N driving sensing units move the preset length in the moving direction to reach a preset position; when the N driving induction units move to the preset position, the moving result is fed back to the processor, and the processor controls the N driving induction units to execute subsequent reset operation according to the moving result.
S402: and sequentially controlling the N driving induction units to move to a target reset position based on the moving result and the operation sequence of the N driving induction units so as to obtain error removal results fed back by the N driving induction units.
The target reset position is a preset position, and one driving sensing unit corresponds to one target reset position, so that two adjacent driving sensing units are at equal distances, for example, the difference between the two adjacent driving sensing units and the target reset position is 58 mm.
In this embodiment, a moving distance and a moving direction are sent to a first driving induction unit to separate the first driving induction unit from a second driving induction unit, then the first driving induction unit is stopped, then the second driving induction unit is moved to the first driving induction unit, and when a distance sensor of the second driving induction unit is abutted to a distance sensing piece of the first driving induction unit, the second driving induction unit is stopped; … …, until the Nth drive induction unit contacts with the (N-1) th drive induction unit, the target reset result fed back by each drive induction unit can be obtained, and the adjacent drive induction units are ensured to be abutted without nesting, so as to carry out initialization.
S102: and judging whether the error removing results fed back by the N driving induction units meet initialization conditions.
The initialization condition is a condition that N drive sensing units can be initialized, and specifically, the N drive sensing units are subjected to error operation.
Specifically, the processor is preset with an initialization condition, and when the error removal result fed back by the N driving induction units meets the initialization condition, the processor controls the N driving induction units to execute an initialization operation.
S103: and if the error removing results fed back by the N drive induction units meet initialization conditions, controlling the N drive induction units to execute initialization operation so as to enable each drive induction unit to move to a corresponding target initialization position and finish initialization.
The initialization operation is an operation for controlling the N drive induction units to move to preset corresponding target initialization positions.
In the implementation, after the error removal operation of the N driving induction units, the processor controls the N driving induction units to move the corresponding target initialization positions, so that the initialization precision is improved, and the accurate matching of any two subsequent driving induction units is ensured.
As an embodiment, as shown in fig. 6, in step S103, the controlling N driving sensing units to perform an initialization operation so that each driving sensing unit moves to a corresponding target initialization position to complete initialization includes:
s601: and acquiring the operation sequence corresponding to the N drive induction units and the target initialization length corresponding to each drive induction unit.
S602: and sequentially controlling the N driving induction units to move to target initialization positions corresponding to the target initialization length based on the operation sequence so as to enable the N driving induction units to complete initialization.
In this embodiment, the processor controls the first driving induction unit to move to the corresponding target initialization position according to the initial operation sequence, and stops when the first driving induction unit moves to the corresponding target initialization position, and sends an initialization completion signal carrying the driving identifier corresponding to the first driving induction unit to the processor; the processor controls a second drive induction unit (namely a next drive induction unit adjacent to the first drive induction unit) to move to a corresponding target initialization position according to the initialization completion signal carrying the drive identifier and the operation sequence, and stops when the second drive induction unit moves to the corresponding target initialization position, and sends the initialization completion signal carrying the drive identifier to the processor; and repeating the steps until all the driving induction units move to the corresponding target initialization positions, finishing initialization of the N driving induction units, and performing the vascular interventional operation.
The slave-end initialization method of the interventional surgical robot provided by the embodiment controls the N driving induction units to execute error removing operation, and obtains error removing results fed back by the N driving induction units; and when the error removal result meets an initialization condition, controlling the N drive induction units to execute initialization operation so as to enable each drive induction unit to move to a corresponding target initialization position, and finishing initialization.
According to the slave-end initialization method of the interventional operation robot, before a blood vessel interventional operation, N driving induction units of the interventional operation robot are controlled to carry out error removing operation and initialization operation, so that the N driving induction units are located at accurate target initialization positions, the problems that the number of the driving induction units is large, the N driving induction units are separated from each other and nested are solved, and the subsequent blood vessel interventional operation is prevented from being influenced.
In an embodiment, as shown in fig. 7, a readable storage medium is provided, where a computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the steps of the slave-end initialization method of the interventional surgical robot in the foregoing embodiments are implemented, for example, steps S101 to S103 shown in fig. 1 or steps shown in fig. 2 to 6, which are not described herein again to avoid repetition.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal units of the apparatus may be divided into different functional units or modules to perform all or part of the above described functions.
The above-mentioned embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
The above-mentioned embodiments only express one embodiment of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.
Claims (10)
1. A slave-end initialization method of an interventional surgical robot, which controls the interventional surgical robot to execute initialization operation after starting a slave end, comprises the following steps: the drive induction system comprises a rack, N drive induction units which are slidably mounted on the rack, and a processor connected with the N drive induction units, and is characterized by comprising the following steps executed by the processor:
acquiring a starting instruction, and controlling the N driving induction units to execute error removing operation based on the starting instruction to acquire error removing results fed back by the N driving induction units; the error removing operation is executed by controlling the N driving induction units by the processor and is used for solving the problem of nesting or remote operation of the N driving induction units;
judging whether the error removing results fed back by the N driving induction units meet initialization conditions or not;
and if the error removing results fed back by the N drive induction units meet initialization conditions, controlling the N drive induction units to execute initialization operation so as to enable each drive induction unit to move to a corresponding target initialization position and finish initialization.
2. The slave-end initialization method of an interventional surgical robot according to claim 1, wherein the controlling N driving induction units to perform error removing operation based on the start instruction to obtain error removing results fed back by the N driving induction units comprises:
obtaining self-checking results fed back by the N driving induction units based on the starting instruction;
judging whether the self-checking results fed back by the N driving induction units meet an error removing condition or not;
and if the self-checking results fed back by the N driving induction units meet the error removing condition, controlling the N driving induction units to execute error removing operation, and obtaining the error removing results fed back by the N driving induction units.
3. The slave-end initialization method of the interventional surgical robot as set forth in claim 2, wherein the self-test result is that the driving induction unit carries the sterile box or the driving induction unit does not carry the sterile box;
judging N drive induction element feedback's self-checking result whether satisfies the error condition, include: and if the N self-checking results fed back by the drive induction units are that the drive induction units do not carry sterile boxes, the N self-checking results fed back by the drive induction units meet the error removing condition.
4. The slave-end initialization method of an interventional surgical robot according to claim 2, wherein the controlling N driving sensing units to perform error removing operation to obtain error removing results fed back by the N driving sensing units comprises:
acquiring initial signals fed back by the N driving induction units;
judging whether the initial signals fed back by the N driving induction units meet a target reset condition or not;
if the initial signal fed back by one driving induction unit does not meet the target reset condition, inquiring a database to obtain the operation sequence of N driving induction units;
controlling the N driving induction units to move in the same direction in sequence based on the operation sequence until current signals fed back by the N driving induction units are obtained;
when current signals fed back by the N driving induction units meet a target reset condition, the N driving induction units are controlled to execute target reset operation, and error removal results fed back by the N driving induction units are obtained.
5. The slave-end initialization method of an interventional surgical robot according to claim 4, wherein after the determining whether the initialization signals fed back by the N driving induction units satisfy the target reset condition, the method further comprises:
and if the initial signals fed back by the N drive induction units meet the target reset condition, controlling the N drive induction units to execute the target reset operation, and acquiring error removal results fed back by the N drive induction units.
6. The slave-end initialization method of an interventional surgical robot according to claim 4 or 5, characterized in that the initial signal is a contact signal or a non-contact signal; if one of the initial signals fed back by the N driving induction units is a non-contact signal, the initial signals fed back by the N driving induction units do not meet the target reset condition; and if the initial signals fed back by the N driving induction units are all contact signals, the initial signals fed back by the N driving induction units meet the target reset condition.
7. The slave-end initialization method of an interventional surgical robot according to claim 4 or 5, wherein the controlling N driving induction units to perform a target reset operation and obtaining the error removal result fed back by the N driving induction units comprises:
controlling the N driving induction units to move to a preset position, and obtaining the moving results fed back by the N driving induction units;
and sequentially controlling the N driving induction units to move to a target reset position based on the moving result and the operation sequence of the N driving induction units so as to obtain error removal results fed back by the N driving induction units.
8. The slave-end initialization method of an interventional surgical robot according to claim 7, wherein the controlling N driving sensing units to move to preset positions and obtaining the moving results fed back by the N driving sensing units comprises:
sending a shift instruction carrying a preset length and a moving direction to the N driving induction units so that the N driving induction units simultaneously move for the preset length along the moving direction to reach a preset position;
and obtaining the feedback movement result after the N driving induction units move to the preset position.
9. The slave-end initialization method of an interventional surgical robot according to claim 1, wherein the controlling N driving sensing units to perform initialization operation so that each driving sensing unit moves to a corresponding target initialization position, and the initialization is completed, includes:
acquiring an operation sequence corresponding to N drive induction units and a target initialization length corresponding to each drive induction unit;
and sequentially controlling the N driving induction units to move to target initialization positions corresponding to the target initialization length based on the operation sequence so as to enable the N driving induction units to complete initialization.
10. A readable storage medium storing a computer program for execution by a processor to perform a method for slave-end initialization of an interventional surgical robot as defined in any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210381223.1A CN114469354B (en) | 2022-04-13 | 2022-04-13 | Slave-end initialization method of interventional operation robot and readable storage medium |
| PCT/CN2022/113596 WO2023197489A1 (en) | 2022-04-13 | 2022-08-19 | Method for initializing interventional operation robot slave and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210381223.1A CN114469354B (en) | 2022-04-13 | 2022-04-13 | Slave-end initialization method of interventional operation robot and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114469354A CN114469354A (en) | 2022-05-13 |
| CN114469354B true CN114469354B (en) | 2022-06-24 |
Family
ID=81487865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210381223.1A Active CN114469354B (en) | 2022-04-13 | 2022-04-13 | Slave-end initialization method of interventional operation robot and readable storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114469354B (en) |
| WO (1) | WO2023197489A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114469354B (en) * | 2022-04-13 | 2022-06-24 | 深圳市爱博医疗机器人有限公司 | Slave-end initialization method of interventional operation robot and readable storage medium |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06274215A (en) * | 1993-03-19 | 1994-09-30 | Tokyo Kasoode Kenkyusho:Kk | Work inspection device |
| JPH08268024A (en) * | 1995-03-31 | 1996-10-15 | Nissan Motor Co Ltd | Suspension controller |
| JP2007011493A (en) * | 2005-06-28 | 2007-01-18 | Daihatsu Motor Co Ltd | Production system and production method |
| CN107361847A (en) * | 2017-08-17 | 2017-11-21 | 成都中科博恩思医学机器人有限公司 | The method and corresponding intrument of operating theater instruments in a kind of initialization operating robot |
| CN107744405A (en) * | 2017-08-31 | 2018-03-02 | 首都医科大学附属北京天坛医院 | A kind of robot is from end device, operating system and its control method |
| CN207890660U (en) * | 2017-12-19 | 2018-09-21 | 广东北玻臻兴玻璃技术工业有限公司 | A kind of glass automatic aligning mobile device |
| CN108742846A (en) * | 2018-04-08 | 2018-11-06 | 上海联影医疗科技有限公司 | Operating robot space coordinates calibration equipment and apply its method of calibration |
| CN109784499A (en) * | 2018-12-21 | 2019-05-21 | 华南理工大学广州学院 | A kind of learning robot and control method |
| CN109878961A (en) * | 2019-04-01 | 2019-06-14 | 深圳普智联科机器人技术有限公司 | A kind of the initialization automatic calibration device and method of multi-layered storage rack profile |
| CN111200986A (en) * | 2017-11-02 | 2020-05-26 | 直观外科手术操作公司 | System and method for end effector position set point correction |
| CN111670011A (en) * | 2017-12-13 | 2020-09-15 | 威博外科公司 | Control modes and processes for positioning a robotic manipulator |
| CN111685883A (en) * | 2019-07-23 | 2020-09-22 | 成都博恩思医学机器人有限公司 | Automatic identification and control parameter updating method and device for surgical instruments of minimally invasive surgical robot |
| CN111840777A (en) * | 2020-07-09 | 2020-10-30 | 佛山市柏康机器人技术有限公司 | Prostate particle implantation system and method based on cooperative robot |
| CN112587243A (en) * | 2020-12-15 | 2021-04-02 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device thereof |
| CN113304393A (en) * | 2021-06-30 | 2021-08-27 | 深圳市爱博医疗机器人有限公司 | Y valve module of surgical robot and connecting piece thereof |
| CN113693733A (en) * | 2021-07-05 | 2021-11-26 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end device |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9161817B2 (en) * | 2008-03-27 | 2015-10-20 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system |
| US9649160B2 (en) * | 2012-08-14 | 2017-05-16 | OrthAlign, Inc. | Hip replacement navigation system and method |
| KR101527176B1 (en) * | 2013-12-09 | 2015-06-09 | (주)미래컴퍼니 | Surgical Robot Apparatus and Method for Controlling Surgical Robot Apparatus |
| JP6165080B2 (en) * | 2014-02-21 | 2017-07-19 | オリンパス株式会社 | Initialization method of manipulator system |
| CN107690319B (en) * | 2015-07-07 | 2021-01-15 | 直观外科手术操作公司 | Control of multiple devices |
| JP7145599B2 (en) * | 2016-10-10 | 2022-10-03 | グローバス メディカル インコーポレイティッド | Method and system for improving convergence of 2D-3D registration |
| CN107049492B (en) * | 2017-05-26 | 2020-02-21 | 微创（上海）医疗机器人有限公司 | Surgical robot system and method for displaying position of surgical instrument |
| US20190201140A1 (en) * | 2017-12-28 | 2019-07-04 | Ethicon Llc | Surgical hub situational awareness |
| US11076921B2 (en) * | 2017-12-28 | 2021-08-03 | Cilag Gmbh International | Adaptive control program updates for surgical hubs |
| US20220184811A1 (en) * | 2019-04-16 | 2022-06-16 | Yujin Robot Co., Ltd. | Method and system for initialization diagnosis of mobile robot |
| CN112643664B (en) * | 2019-10-10 | 2022-09-23 | 深圳市优必选科技股份有限公司 | Positioning error eliminating method, positioning error eliminating device, robot and storage medium |
| US11730349B2 (en) * | 2019-10-25 | 2023-08-22 | Canon U.S.A., Inc. | Steerable medical device with bending sections and improved connector therefor |
| JP7352452B2 (en) * | 2019-11-25 | 2023-09-28 | 川崎重工業株式会社 | How to operate the surgical system and positioner |
| GB2593739A (en) * | 2020-03-31 | 2021-10-06 | Cmr Surgical Ltd | Control system of a surgical robot |
| CN113967080A (en) * | 2020-07-24 | 2022-01-25 | 北京术锐技术有限公司 | Teleoperation owner hand fixture |
| CN112587237A (en) * | 2020-12-09 | 2021-04-02 | 南京凌华微电子科技有限公司 | Method for reducing operation error of orthopedic operation robot |
| CN114469354B (en) * | 2022-04-13 | 2022-06-24 | 深圳市爱博医疗机器人有限公司 | Slave-end initialization method of interventional operation robot and readable storage medium |
-
2022
- 2022-04-13 CN CN202210381223.1A patent/CN114469354B/en active Active
- 2022-08-19 WO PCT/CN2022/113596 patent/WO2023197489A1/en unknown
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06274215A (en) * | 1993-03-19 | 1994-09-30 | Tokyo Kasoode Kenkyusho:Kk | Work inspection device |
| JPH08268024A (en) * | 1995-03-31 | 1996-10-15 | Nissan Motor Co Ltd | Suspension controller |
| JP2007011493A (en) * | 2005-06-28 | 2007-01-18 | Daihatsu Motor Co Ltd | Production system and production method |
| CN107361847A (en) * | 2017-08-17 | 2017-11-21 | 成都中科博恩思医学机器人有限公司 | The method and corresponding intrument of operating theater instruments in a kind of initialization operating robot |
| CN107744405A (en) * | 2017-08-31 | 2018-03-02 | 首都医科大学附属北京天坛医院 | A kind of robot is from end device, operating system and its control method |
| CN111200986A (en) * | 2017-11-02 | 2020-05-26 | 直观外科手术操作公司 | System and method for end effector position set point correction |
| CN111670011A (en) * | 2017-12-13 | 2020-09-15 | 威博外科公司 | Control modes and processes for positioning a robotic manipulator |
| CN207890660U (en) * | 2017-12-19 | 2018-09-21 | 广东北玻臻兴玻璃技术工业有限公司 | A kind of glass automatic aligning mobile device |
| CN108742846A (en) * | 2018-04-08 | 2018-11-06 | 上海联影医疗科技有限公司 | Operating robot space coordinates calibration equipment and apply its method of calibration |
| CN109784499A (en) * | 2018-12-21 | 2019-05-21 | 华南理工大学广州学院 | A kind of learning robot and control method |
| CN109878961A (en) * | 2019-04-01 | 2019-06-14 | 深圳普智联科机器人技术有限公司 | A kind of the initialization automatic calibration device and method of multi-layered storage rack profile |
| CN111685883A (en) * | 2019-07-23 | 2020-09-22 | 成都博恩思医学机器人有限公司 | Automatic identification and control parameter updating method and device for surgical instruments of minimally invasive surgical robot |
| CN111840777A (en) * | 2020-07-09 | 2020-10-30 | 佛山市柏康机器人技术有限公司 | Prostate particle implantation system and method based on cooperative robot |
| CN112587243A (en) * | 2020-12-15 | 2021-04-02 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device thereof |
| CN113304393A (en) * | 2021-06-30 | 2021-08-27 | 深圳市爱博医疗机器人有限公司 | Y valve module of surgical robot and connecting piece thereof |
| CN113693733A (en) * | 2021-07-05 | 2021-11-26 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end device |
Non-Patent Citations (2)
| Title |
|---|
| 眼科显微手术辅助机器人控制方法研究;廖一博;《万方》;20201126;全文 * |
| 粒子群优化的手术机器人从手夹持力模糊控制;张禹,刘群,刘慧芳,王哲;《机械设计与制造》;20181231(第4期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114469354A (en) | 2022-05-13 |
| WO2023197489A1 (en) | 2023-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2016246745B2 (en) | System and method of controlling a surgical tool during autonomous movement of the surgical tool | |
| CN114469354B (en) | Slave-end initialization method of interventional operation robot and readable storage medium | |
| CN109640864B (en) | Surgical tool positioning based on sensed parameters | |
| US11376053B2 (en) | Surgical rod bending system and method | |
| CN111200986A (en) | System and method for end effector position set point correction | |
| US20220015846A1 (en) | Method and system for preventing collision between mechanical arms, and medical robot | |
| CN109640863B (en) | Surgical tool positioning based on sensed parameters | |
| CN114469343B (en) | Calibration piece, surgical navigation coordinate system registration system, method, equipment and medium | |
| KR20190010860A (en) | Systems and methods for identifying and tracking physical objects during robotic surgical procedures | |
| JP2016512073A5 (en) | ||
| CN110584784A (en) | Robot-assisted surgery system | |
| CN101657231A (en) | The optimization path that is identified for radiation treatment delivery system is advanced | |
| US20110054449A1 (en) | Surgical tool calibrating device having electronic sensing module | |
| CN115068825A (en) | Systems and methods for facilitating delivery of transcranial magnetic stimulation | |
| CN114521971A (en) | Interventional robot system and readable storage medium | |
| CN115379814A (en) | System and method for controlling robot movement of a tool based on virtual boundaries | |
| CN109044530A (en) | A kind of multi-modal sensory perceptual system and data fusion method of operation on prostate robot | |
| CN115245387A (en) | Elongated medical device delivery system, delivery method, apparatus, and medium | |
| EP4026509A2 (en) | Device for guiding position of robot, method therefor, and system comprising same | |
| US8601185B2 (en) | System and methods for avoiding data collisions over a data bus | |
| US11185372B2 (en) | Assisting in navigation of a medical instrument | |
| CN112914601B (en) | Obstacle avoidance method and device for mechanical arm, storage medium and ultrasonic equipment | |
| AU2020386613B2 (en) | Osteotomy verification method and verification apparatus, readable storage medium, and orthopedic surgery system | |
| US20190090838A1 (en) | X-ray fluoroscopy and imaging apparatus | |
| CN114767265A (en) | Surgical path planning method, system, electronic device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. |
|
| CP03 | Change of name, title or address |